Crystal bar feeding and discharging device and slicing system

Abstract

The utility model relates to a crystal bar feeding and discharging device and a slicing system. The crystal bar feeding and discharging device comprises a crystal support, a supporting mechanism and a power mechanism. Wherein the crystal support is used for being connected with a crystal bar. The supporting mechanism comprises a cache frame and a guide rail, the cache frame is used for storing the crystal support, one end of the guide rail is connected with the cache frame, the other end of the guide rail is used for extending into the slicing machine, and the crystal support can reciprocate along the guide rail. The power mechanism comprises a clamping jaw and a driving assembly, the clamping jaw is used for clamping or loosening the crystal support, and the driving assembly is connected with the clamping jaw and used for driving the clamping jaw to reciprocate along the guide rail. According to the crystal bar feeding and discharging device, automatic feeding and discharging can be achieved, the labor intensity of workers is reduced, the personal safety of the workers is guaranteed, the labor cost is saved, waiting time consumed in the manual feeding and discharging process is shortened, the equipment operation efficiency is improved, and then the production efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of solar cell production equipment technology, and in particular to a crystal rod loading and unloading device and a slicing system. Background Technology

[0002] In the photovoltaic industry, silicon wafers needed to manufacture solar cells are obtained by slicing crystal rods. In the slicing process, the crystal rod is typically first bonded to a wafer holder, and then workers feed the wafer holder along with the crystal rod into the slicing machine. After slicing, the wafer holder is removed by workers. However, with increasing competition in the photovoltaic market, the slicing efficiency of slicing machines and the weight of a single crystal rod are constantly increasing, making it difficult to reliably guarantee the labor intensity and safety of manually loading and unloading crystal rods. Utility Model Content

[0003] Therefore, it is necessary to provide a crystal ingot loading and unloading device and a slicing system to address the issues of reducing the labor intensity of crystal ingot loading and unloading and ensuring personnel safety.

[0004] In a first aspect, this application provides a crystal ingot loading and unloading device, comprising:

[0005] Crystal holder, which is used to connect to a crystal rod;

[0006] A support mechanism, comprising a buffer rack and a guide rail, wherein the buffer rack holds the crystal tray, one end of the guide rail is connected to the buffer rack, and the other end of the guide rail extends into the slicer, and the crystal tray is capable of reciprocating along the guide rail; and...

[0007] The power mechanism includes a gripper and a drive assembly. The gripper is used to grip or release the crystal tray, and the drive assembly is connected to the gripper and is used to drive the gripper to move along the guide rail.

[0008] The technical solution will be further explained below:

[0009] In one embodiment, the gripper includes a first gripping arm, a second gripping arm, and a driving cylinder. The first gripping arm and the second gripping arm are disposed opposite to each other, and the driving cylinder connects the first gripping arm and the second gripping arm. The driving cylinder is used to drive the first gripping arm and the second gripping arm to move closer to each other or further away from each other in order to grip or release the crystal tray.

[0010] In one embodiment, at least one positioning post is protruding from the opposite side of the first clamping arm and the second clamping arm, and at least one positioning hole is provided on both opposite sides of the crystal tray. When the first clamping arm and the second clamping arm clamp the crystal tray, the positioning posts are inserted into the positioning holes one by one.

[0011] In one embodiment, two positioning posts are protruding from opposite sides of the first clamping arm and the second clamping arm, the two positioning posts being a first positioning post and a second positioning post, the first positioning post and the second positioning post being spaced apart along an extension direction parallel to the guide rail, and the first positioning post being closer to the buffer rack than the second positioning post;

[0012] The crystal tray has two positioning holes on both sides opposite to each other. The two positioning holes are a first positioning hole and a second positioning hole, respectively. The first positioning hole and the second positioning hole are spaced apart along the extension direction parallel to the guide rail. When the crystal tray is located between the buffer rack and the slicer, the first positioning hole is closer to the buffer rack than the second positioning hole.

[0013] The gripper has a first gripping posture for gripping the crystal tray into and out of the buffer rack, a second gripping posture for gripping the crystal tray to move between the buffer rack and the slicer, and a third gripping posture for gripping the crystal tray into and out of the slicer; in the first gripping posture, the first positioning post is inserted into the second positioning hole; in the second gripping posture, the first positioning post is inserted into the first positioning hole, and the second positioning post is inserted into the second positioning hole; in the third gripping posture, the second positioning post is inserted into the first positioning hole.

[0014] In one embodiment, the ingot loading and unloading device further includes a first vision sensor, which is disposed on the buffer rack and used to acquire the relative position information between the ingot holder and the buffer rack. The ingot holder is provided with a first reference mark for recognition by the first vision sensor; and / or,

[0015] The ingot loading and unloading device further includes a second vision sensor, which is installed on the slicing machine and used to obtain the relative position information between the ingot holder and the slicing machine. The ingot holder is provided with a second reference mark for the second vision sensor to identify.

[0016] In one embodiment, the driving component includes:

[0017] A rack, which is connected to the gripper and extends in a direction parallel to the guide rail;

[0018] A drive motor, the output shaft of which is connected to a gear, the gear meshing with the rack.

[0019] In one embodiment, the gear is a helical gear, and the rack is a helical rack that matches the helical gear.

[0020] In one embodiment, the cache rack is provided with a receiving groove that extends through both ends of the cache rack along an extension direction parallel to the guide rail. Each of the two opposite walls of the receiving groove is provided with a row of support rollers for supporting the crystal tray. Each row of support rollers includes a plurality of rollers arranged at intervals along the extension direction of the guide rail. The rollers are used to roll in cooperation with the crystal tray.

[0021] In one embodiment, the crystal holder includes a tray, the bottom surface of which is an adhesive surface for bonding the crystal rod, and the top surface of which is provided with a slider for slidingly engaging with the guide rail.

[0022] Secondly, this application also provides a slicing system, including the above-mentioned ingot loading and unloading device.

[0023] In the aforementioned ingot loading and unloading device and slicing system, during loading, a buffer rack receives the crystal tray with the ingot attached. Then, grippers hold the crystal tray on the buffer rack. The drive assembly then drives the grippers to move along the guide rail away from the buffer rack, pulling the crystal tray out of the buffer rack and onto the guide rail. The drive assembly continues to drive the grippers closer to the slicing machine, ultimately pushing the crystal tray along with the ingot into the slicing machine, thus achieving automatic ingot loading. After slicing is completed, the drive assembly then drives the grippers to extend into the slicing machine along the guide rail, holding the crystal tray. The drive assembly then drives the grippers to move along the guide rail away from the slicing machine, pulling the crystal tray out of the slicing machine, thus achieving automatic unloading. Compared to the traditional manual loading and unloading method, the crystal rod loading and unloading device of this application can realize automatic loading and unloading, which reduces the labor intensity of workers, ensures the personal safety of workers, saves labor costs, and reduces the waiting time in the manual loading and unloading process, thereby improving the operating efficiency of the equipment and thus improving the production efficiency. Attached Figure Description

[0024] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0025] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Furthermore, the accompanying drawings are not drawn to a 1:1 scale, and the relative dimensions of the various components are shown as examples only and not necessarily to scale. In the accompanying drawings:

[0027] Figure 1 This is a schematic diagram of the slicing system according to one embodiment.

[0028] Figure 2 for Figure 1 The diagram shows the structure of the ingot loading and unloading device of the slicing system.

[0029] Figure 3 This is a schematic diagram of the power mechanism in one embodiment.

[0030] Figure 4 for Figure 3 The top view of the power mechanism shown.

[0031] Figure 5 for Figure 4 The power mechanism shown is a cross-sectional view at section AA.

[0032] Figure 6 This is a schematic diagram of the structure of a crystal holder and a crystal rod in one embodiment.

[0033] Figure 7 This is a schematic diagram of the support frame according to one embodiment.

[0034] Explanation of reference numerals in the attached figures:

[0035] 10. Crystal tray; 11. Tray plate; 12. Slider; 111. First positioning hole; 112. Second positioning hole; 113. First reference mark; 114. Second reference mark; 20. Support mechanism; 21. Buffer rack; 211. Receiving groove; 212. Support roller; 22. Guide rail; 30. Power mechanism; 31. Gripper; 311. First gripper arm; 312. Second gripper arm; 313. Drive cylinder; 314. First positioning post; 315. Second positioning post; 32. Drive assembly; 321. Rack; 322. Drive motor; 323. Gear; 40. Slicer; 50. Crystal rod; 61. First vision sensor; 62. Second vision sensor. Detailed Implementation

[0036] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0037] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0038] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0039] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0040] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0041] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0042] One embodiment of this application provides a crystal ingot loading and unloading device for feeding a crystal ingot 50 into a slicing machine 40 and removing the sliced ​​crystal ingot 50 from the slicing machine 40. Specifically, see [link to relevant documentation]. Figure 1 as well as Figure 2 One embodiment of the crystal ingot loading and unloading device includes a crystal tray 10, a support mechanism 20, and a power mechanism 30. The crystal tray 10 is used to connect to the crystal ingot 50. The support mechanism 20 includes a buffer rack 21 and a guide rail 22. The buffer rack 21 stores the crystal tray 10, one end of the guide rail 22 is connected to the buffer rack 21, and the other end of the guide rail 22 extends into the slicing machine 40. The crystal tray 10 can reciprocate along the guide rail 22. The power mechanism 30 includes a gripper 31 and a drive assembly 32. The gripper 31 grips or releases the crystal tray 10, and the drive assembly 32 is connected to the gripper 31 and drives the gripper 31 to reciprocate along the guide rail 22.

[0043] During the loading and unloading of the crystal rod, the buffer rack 21 receives the crystal tray 10 connected to the crystal rod 50, and then the gripper 31 clamps the crystal tray 10 on the buffer rack 21. The drive component 32 then drives the gripper 31 to move away from the buffer rack 21 along the guide rail 22, so that the gripper 31 pulls the crystal tray 10 out of the buffer rack 21 and puts the crystal tray 10 into the guide rail 22. Subsequently, the drive component 32 continues to drive the gripper 31 to move closer to the slicing machine 40, so that the gripper 31 pushes the crystal tray 10 together with the crystal rod 50 along the guide rail 22 into the slicing machine 40, thus realizing the automatic loading of the crystal rod 50. After slicing is completed, the drive assembly 32 drives the gripper 31 to extend into the slicer 40 along the guide rail 22. The gripper 31 holds the crystal tray 10 in the slicer 40. Then, the drive assembly 32 drives the gripper 31 to move away from the slicer 40 along the guide rail 22, so that the gripper 31 pulls the crystal tray 10 out of the slicer 40, realizing automatic unloading. Compared with the traditional manual loading and unloading method, the crystal rod loading and unloading device of this application can realize automatic loading and unloading, reducing the labor intensity of workers, ensuring the personal safety of workers, saving labor costs, and reducing the waiting time in the manual loading and unloading process, thereby improving the operating efficiency of the equipment and thus improving the production efficiency.

[0044] See Figure 3 as well as Figure 4Optionally, in one embodiment, the gripper 31 includes a first gripping arm 311, a second gripping arm 312, and a driving cylinder 313. The first gripping arm 311 and the second gripping arm 312 are disposed opposite to each other, and the driving cylinder 313 is connected to the first gripping arm 311 and the second gripping arm 312. The driving cylinder 313 is used to drive the first gripping arm 311 and the second gripping arm 312 to move closer to each other or further away from each other, so as to grip or release the crystal tray 10. Exemplarily, the driving cylinder 313 is disposed between the first gripping arm 311 and the second gripping arm 312, and the height of the driving cylinder 313 is higher than the height of the crystal tray 10, so as to avoid interference between the driving cylinder 313 and the crystal tray 10 when the first gripping arm 311 and the second gripping arm 312 grip the crystal tray 10. Furthermore, when the driving cylinder 313 drives the first clamping arm 311 and the second clamping arm 312 to approach each other, the first clamping arm 311 and the second clamping arm 312 can clamp the crystal tray 10 from both sides of the crystal tray 10 respectively. When the driving cylinder 313 drives the first clamping arm 311 and the second clamping arm 312 to move away from each other, the first clamping arm 311 and the second clamping arm 312 can release the crystal tray 10.

[0045] Optionally, in one embodiment, at least one positioning post is protruding from the opposite sides of the first clamping arm 311 and the second clamping arm 312, and at least one positioning hole is provided on both opposite sides of the crystal tray 10. When the first clamping arm 311 and the second clamping arm 312 clamp the crystal tray 10, the positioning posts are inserted into the positioning holes one by one. In this way, on the one hand, the stability of the gripper 31 in clamping the crystal tray 10 can be enhanced, preventing relative movement between the gripper 31 and the crystal tray 10 during the pushing and pulling of the gripper 31, and improving the accuracy of the crystal tray 10 in place; on the other hand, the positioning post and the positioning hole cooperate to achieve a positioning effect, ensuring that the gripper 31 can accurately grasp the predetermined part of the crystal tray 10, further improving the stability of the gripper 31 in clamping the crystal tray 10.

[0046] See Figure 4 In one embodiment, two positioning posts protrude from opposite sides of the first clamping arm 311 and the second clamping arm 312. The two positioning posts are a first positioning post 314 and a second positioning post 315, which are spaced apart along an extension direction parallel to the guide rail 22. The first positioning post 314 is closer to the buffer rack 21 than the second positioning post 315. Exemplarily, a first positioning post 314 is provided at the end of the first clamping arm 311 and the second clamping arm 312 near the buffer rack 21, and a second positioning post 315 is provided at the end of the first clamping arm 311 and the second clamping arm 312 near the slicer 40.

[0047] See Figure 6The crystal tray 10 has two positioning holes on both opposite sides, namely a first positioning hole 111 and a second positioning hole 112. The first positioning hole 111 and the second positioning hole 112 are spaced apart along the extension direction parallel to the guide rail 22, and when the crystal tray 10 is located between the buffer rack 21 and the slicer 40, the first positioning hole 111 is closer to the buffer rack 21 than the second positioning hole 112. For example, the first positioning hole 111 is located at the end of the crystal tray 10 closer to the buffer rack 21, and the second positioning hole 112 is located at the end of the crystal tray 10 closer to the slicer 40.

[0048] Furthermore, the gripper 31 has a first gripping posture for gripping the crystal tray 10 into and out of the buffer rack 21, a second gripping posture for gripping the crystal tray 10 moving between the buffer rack 21 and the slicer 40, and a third gripping posture for gripping the crystal tray 10 into and out of the slicer 40.

[0049] Specifically, in the first clamping posture, the first positioning post 314 is inserted into the second positioning hole 112. At this time, the end of the gripper 31 near the buffer rack 21 clamps the end of the crystal tray 10 near the slicer 40, which makes it easier for the gripper 31 to push the crystal tray 10 into the buffer rack 21 and pull the crystal tray 10 out of the buffer rack 21. This avoids the need for the entire gripper 31 to extend into the buffer rack 21, thereby avoiding interference between the gripper 31 and the internal structure of the buffer rack 21.

[0050] In the second clamping posture, the first positioning post 314 is inserted into the first positioning hole 111, and the second positioning post 315 is inserted into the second positioning hole 112. At this time, the entire gripper 31 is clamped onto the crystal tray 10, which increases the contact area between the gripper 31 and the crystal tray 10, improves the stability of the gripper 31 in clamping the crystal tray 10, and ensures the stability of the crystal tray 10 during the transfer process between the buffer rack 21 and the slicer 40.

[0051] In the third clamping posture, the second positioning post 315 is inserted into the first positioning hole 111. That is, at this time, the end of the gripper 31 near the slicer 40 clamps the end of the crystal tray 10 near the buffer rack 21, which makes it easier for the gripper 31 to push the crystal tray 10 into the slicer 40 and pull the crystal tray 10 out of the slicer 40, avoiding the need for the entire gripper 31 to extend into the slicer 40, thereby avoiding interference between the gripper 31 and the internal structure of the slicer 40.

[0052] Optionally, see Figure 1 In one embodiment, the ingot loading and unloading device further includes a first vision sensor 61, which is disposed on the buffer rack 21 and is used to acquire the relative position information between the crystal tray 10 and the buffer rack 21. Figure 6The crystal tray 10 is provided with a first reference mark 113 for recognition by the first vision sensor 61. For example, the first reference mark 113 can be a first reference hole opened on one end of the crystal tray 10. In another embodiment, the first reference mark 113 can also be a protrusion or color block provided on the crystal tray 10. By recognizing the position of the first reference mark 113 by the first vision sensor 61, the relative position information between the crystal tray 10 and the buffer rack 21 can be obtained, thereby enabling more accurate control of the gripper 31 to pull the crystal tray 10 out of the buffer rack 21 or push the crystal tray 10 into the buffer rack 21.

[0053] See Figure 1 In one embodiment, the ingot loading and unloading device further includes a second vision sensor 62, which is mounted on the slicing machine 40 and used to acquire the relative position information between the crystal tray 10 and the slicing machine 40. Combined with... Figure 6 The crystal tray 10 is provided with a second reference mark 114 for recognition by the second vision sensor 62. Exemplarily, the second reference mark 114 can be a second reference hole opened on the other end of the crystal tray 10. In other embodiments, the second reference mark 114 can also be a protrusion or color block on the crystal tray 10. By recognizing the position of the second reference mark 114 by the second vision sensor 62, the relative position information between the crystal tray 10 and the slicer 40 can be obtained. This allows for more accurate control of the gripper 31 to feed the crystal tray 10 into or pull it out of the slicer 40. Furthermore, by measuring the relative position information between the crystal tray 10 and the slicer 40 after each cut using the second vision sensor 62, the drive assembly 32 can accurately control the drive of the gripper 31 and the feed amount of the crystal tray 10 each time. This avoids the inaccuracy of pulling and pushing the crystal rod 50 caused by accumulated errors over long-term use, thus preventing the loss of the crystal rod 50.

[0054] See Figure 5 In one embodiment, the drive assembly 32 includes a rack 321 and a drive motor 322. The rack 321 is connected to the gripper 31 and extends in a direction parallel to the guide rail 22. The output shaft of the drive motor 322 is connected to a gear 323, which meshes with the rack 321. Thus, by driving the gear 323 to rotate forward or backward by the drive motor 322, the rack 321 and the gripper 31 connected to the rack 321 can be driven to reciprocate along the guide rail 22.

[0055] Optionally, in one embodiment, gear 323 is a helical gear, and rack 321 is a helical rack that matches the helical gear. By having the helical gear and helical rack mesh, wear between gear 323 and rack 321 can be reduced, thereby avoiding positioning inaccuracies caused by wear.

[0056] See Figure 7Optionally, in one embodiment, the buffer rack 21 is provided with a receiving groove 211, which extends through both ends of the buffer rack 21 along the extension direction of the parallel guide rail 22. Each of the two opposite walls of the receiving groove 211 is provided with a row of support rollers 212 for supporting the crystal tray 10. Each row of support rollers 212 includes multiple rollers spaced apart along the extension direction of the guide rail 22, which are used to roll and engage with the crystal tray. Specifically, after the crystal tray 10 is connected to the crystal rod 50, it is first transferred to the receiving groove 211 of the buffer rack 21 by an automated device. At this time, the two sides of the crystal tray 10 are respectively placed on the two rows of support rollers 212. When loading is required, the gripper 31 pulls the crystal tray 10 under the drive of the drive component 32. The crystal tray 10 can then be smoothly transferred to the guide rail 22 under the rolling engagement of the rollers, reducing the friction between the crystal tray 10 and the buffer rack 21, thus making it easier to pull the crystal tray 10 out of the buffer rack 21.

[0057] See Figure 6 In one embodiment, the crystal holder 10 includes a tray 11, the bottom surface of which is an adhesive surface for bonding the crystal rod 50. Exemplarily, the crystal rod 50 can be bonded by applying adhesive to the adhesive surface. The top surface of the tray 11 is provided with a slider 12 for slidingly engaging with the guide rail 22. The sliding engagement of the slider 12 with the guide rail 22 ensures that the crystal holder 10 can reciprocate along the guide rail 22.

[0058] One embodiment of this application also provides a slicing system, which includes the ingot loading and unloading device of any of the above embodiments. Further, the slicing system also includes a slicing machine 40, with one end of the guide rail 22 of the ingot loading and unloading device extending into the slicing machine 40.

[0059] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0060] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A crystal rod loading and unloading device, characterized in that, include: Crystal holder (10), the crystal holder (10) is used to connect with crystal rod (50); A support mechanism (20) includes a buffer rack (21) and a guide rail (22). The buffer rack (21) is used to store the crystal tray (10). One end of the guide rail (22) is connected to the buffer rack (21), and the other end of the guide rail (22) extends into the slicer (40). The crystal tray (10) can reciprocate along the guide rail (22). The power mechanism (30) includes a gripper (31) and a drive assembly (32). The gripper (31) is used to grip or release the crystal tray (10). The drive assembly (32) is connected to the gripper (31) and is used to drive the gripper (31) to move along the guide rail (22).

2. The crystal rod loading and unloading device according to claim 1, characterized in that, The gripper (31) includes a first gripper arm (311), a second gripper arm (312), and a drive cylinder (313). The first gripper arm (311) and the second gripper arm (312) are arranged opposite to each other. The drive cylinder (313) connects the first gripper arm (311) and the second gripper arm (312). The drive cylinder (313) is used to drive the first gripper arm (311) and the second gripper arm (312) to move closer to each other or further away from each other, so as to grip or release the crystal tray (10).

3. The crystal rod loading and unloading device according to claim 2, characterized in that, The first clamping arm (311) and the second clamping arm (312) each have at least one positioning post protruding on their opposite sides. The crystal holder (10) has at least one positioning hole on each of its opposite sides. When the first clamping arm (311) and the second clamping arm (312) clamp the crystal holder (10), the positioning posts are inserted into the positioning holes one by one.

4. The crystal rod loading and unloading device according to claim 3, characterized in that: The first clamping arm (311) and the second clamping arm (312) are each provided with two positioning posts on their opposite sides. The two positioning posts are a first positioning post (314) and a second positioning post (315). The first positioning post (314) and the second positioning post (315) are spaced apart along the extension direction parallel to the guide rail (22), and the first positioning post (314) is closer to the buffer rack (21) than the second positioning post (315). The crystal tray (10) has two positioning holes on both opposite sides. The two positioning holes are a first positioning hole (111) and a second positioning hole (112). The first positioning hole (111) and the second positioning hole (112) are spaced apart along the extension direction parallel to the guide rail (22). When the crystal tray (10) is located between the buffer rack (21) and the slicer (40), the first positioning hole (111) is closer to the buffer rack (21) than the second positioning hole (112). The gripper (31) has a first gripping posture for gripping the crystal tray (10) in and out of the buffer rack (21), a second gripping posture for gripping the crystal tray (10) to move between the buffer rack (21) and the slicer (40), and a third gripping posture for gripping the crystal tray (10) in and out of the slicer (40); in the first gripping posture, the first positioning post (314) is inserted into the second positioning hole (112); in the second gripping posture, the first positioning post (314) is inserted into the first positioning hole (111), and the second positioning post (315) is inserted into the second positioning hole (112); in the third gripping posture, the second positioning post (315) is inserted into the first positioning hole (111).

5. The crystal rod loading and unloading device according to claim 1, characterized in that, The ingot loading and unloading device further includes a first vision sensor (61), which is disposed on the buffer rack (21) and used to acquire the relative position information of the crystal tray (10) and the buffer rack (21). The crystal tray (10) is provided with a first reference mark (113) for the first vision sensor (61) to identify; and / or, The ingot loading and unloading device further includes a second vision sensor (62), which is used to be installed on the slicer (40) and to obtain the relative position information of the ingot holder (10) and the slicer (40). The ingot holder (10) is provided with a second reference mark (114) for the second vision sensor (62) to identify.

6. The crystal rod loading and unloading device according to claim 1, characterized in that, The driving component (32) includes: A rack (321) is connected to the gripper (31), and the rack (321) extends in a direction parallel to the guide rail (22); A drive motor (322) is provided, and a gear (323) is connected to the output shaft of the drive motor (322), which meshes with the rack (321).

7. The crystal rod loading and unloading device according to claim 6, characterized in that, The gear (323) is a helical gear, and the rack (321) is a helical rack that matches the helical gear.

8. The crystal rod loading and unloading device according to claim 1, characterized in that, The cache rack (21) is provided with a receiving groove (211), which extends through both ends of the cache rack (21) along the extension direction parallel to the guide rail (22). Each of the two opposite groove walls in the receiving groove (211) is provided with a row of support rollers (212) for supporting the crystal tray (10). Each row of support rollers (212) includes multiple rollers arranged at intervals along the extension direction of the guide rail (22). The rollers are used to roll and cooperate with the crystal tray (10).

9. The crystal rod loading and unloading device according to claim 1, characterized in that, The crystal holder (10) includes a tray (11), the bottom surface of which is an adhesive surface for bonding the crystal rod (50), and the top surface of the tray (11) is provided with a slider (12) for sliding cooperation with the guide rail (22).

10. A slicing system, characterized in that, The device includes the ingot loading and unloading device according to any one of claims 1-9.

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